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Let us reexamine the problem of a mass on a spring (see Sect. 5.6). Consider a
mass which slides over a horizontal frictionless surface. Suppose that the mass is
attached to a light horizontal spring whose other end is anchored to an immovable
object. See Fig. 42. Let be the extension of the spring: i.e., the difference between
the spring's actual length and its unstretched length. Obviously, can also be used as
a coordinate to determine the horizontal displacement of the mass.
The equilibrium state of the system corresponds to the situation where the mass is at
rest, and the spring is unextended (i.e., ). In this state, zero net force acts on the
mass, so there is no reason for it to start to move. If the system is perturbed from this
equilibrium state (i.e., if the mass is moved, so that the spring becomes extended) then
the mass experiences a restoring force given by Hooke's law:
(503)
Here, is the force constant of the spring. The negative sign indicates that is
indeed a restoring force. Note that the magnitude of the restoring force is directly
Newton's second law gives following equation of motion for the system:
(504)
This differential equation is known as the simple harmonic equation, and its solution
has been known for centuries. In fact, the solution is
(505)
where , , and are constants. We can demonstrate that Eq. (505) is indeed a
solution of Eq. (504) by direct substitution. Substituting Eq. (505) into Eq. (504), and
recalling from calculus that and , we
obtain
(506)
(507)
Figure 95 shows a graph of versus obtained from Eq. (505). The type of motion
shown here is called simple harmonic motion. It can be seen that the
(508)
This result is easily obtained from Eq. (505) by noting that is a periodic
function of with period . The frequency of the motion (i.e., the number of
oscillations completed per second) is
(509)
angle determines the times at which the oscillation attains its maximum
amplitude, : in fact,
(510)
Here, is an arbitrary integer.
0 0
0 0
0 0
Table 4 lists the displacement, velocity, and acceleration of the mass at various phases
of the simple harmonic cycle. The information contained in this table can easily be
derived from the simple harmonic equation, Eq. (505). Note that all of the non-zero
values shown in this table represent either the maximum or the minimum value taken
by the quantity in question during the oscillation cycle.
). The restoring force again overcompensates, and sends the system back
through to positive displacement states. The motion then repeats itself ad
infinitum. The frequency of the oscillation is determined by the spring stiffness, ,
and the system inertia, , via Eq. (507). In contrast, the amplitude and phase angle of
the oscillation are determined by the initial conditions. Suppose that the instantaneous
(511)
(512)
and
(514)
since and .
(515)
Recall, from Sect. 5.6, that the potential energy takes the form
(516)
(517)
Any twisting of the wire is inevitably associated with mechanical deformation. The
wire resists such deformation by developing a restoring torque, , which acts to
restore the wire to its untwisted state. For relatively small angles of twist, the
magnitude of this torque is directly proportional to the twist angle. Hence, we can
write
(518)
where is the torque constant of the wire. The above equation is essentially a
torsional equivalent to Hooke's law. The rotational equation of motion of the system is
written
(519)
where is the moment of inertia of the disk (about a perpendicular axis through its
centre). The moment of inertia of the wire is assumed to be negligible. Combining the
previous two equations, we obtain
(520)
Equation (520) is clearly a simple harmonic equation [cf., Eq. (504)]. Hence, we can
immediately write the standard solution [cf., Eq. (505)]
(521)
(522)
We conclude that when a torsion pendulum is perturbed from its equilibrium state
(i.e., ), it executes torsional oscillations about this state at a fixed frequency, ,
which depends only on the torque constant of the wire and the moment of inertia of
the disk. Note, in particular, that the frequency is independent of the amplitude of the
oscillation [provided remains small enough that Eq. (518) still applies]. Torsion
pendulums are often used for time-keeping purposes. For instance, the balance wheel
in a mechanical wristwatch is a torsion pendulum in which the restoring torque is
provided by a coiled spring.
The simple pendulum
Consider a mass suspended from a light inextensible string of length , such that
the mass is free to swing from side to side in a vertical plane, as shown in Fig. 97.
This setup is known as a simple pendulum. Let be the angle subtended between the
string and the downward vertical. Obviously, the equilibrium state of the simple
pendulum corresponds to the situation in which the mass is stationary and hanging
vertically down (i.e., ). The angular equation of motion of the pendulum is
simply
(523)
where is the moment of inertia of the mass, and is the torque acting on the
system. For the case in hand, given that the mass is essentially a point particle, and is
situated a distance from the axis of rotation (i.e., the pivot point), it is easily seen
that .
(524)
Combining the previous two equations, we obtain the following angular equation of
motion of the pendulum:
(525)
Unfortunately, this is not the simple harmonic equation. Indeed, the above equation
possesses no closed solution which can be expressed in terms of simple functions.
Suppose that we restrict our attention to relatively small deviations from the
equilibrium state. In other words, suppose that the angle is constrained to take fairly
small values. We know, from trigonometry, that for less than about it is a good
approximation to write
(526)
In this case, the pendulum frequency is dependent only on the length of the pendulum
and the local gravitational acceleration, and is independent of the mass of the
pendulum and the amplitude of the pendulum swings (provided
that remains a good approximation). Historically, the simple pendulum was
the basis of virtually all accurate time-keeping devices before the advent of electronic
Let be the pivot point, and let be the body's centre of mass, which is located a
distance from the pivot. Let be the angle subtended between the downward
vertical (which passes through point ) and the line . The equilibrium state of
the compound pendulum corresponds to the case in which the centre of mass lies
vertically below the pivot point: i.e., . See Sect. 10.3. The angular equation of
motion of the pendulum is simply
(529)
where is the moment of inertia of the body about the pivot point, and is the
torque. Using similar arguments to those employed for the case of the simple
pendulum (recalling that all the weight of the pendulum acts at its centre of mass), we
can write
(530)
Note that the reaction, , at the peg does not contribute to the torque, since its line of
action passes through the pivot point. Combining the previous two equations, we
obtain the following angular equation of motion of the pendulum:
(531)
It is clear, by analogy with our previous solutions of such equations, that the angular
frequency of small amplitude oscillations of a compound pendulum is given by
(533)
(534)
which is such that the motion is confined to the - plane. As illustrated in Fig. 99,
the instantaneous position of the object can be conveniently parameterized in terms of
an angle .
Since the object is executing uniform circular motion, we expect the angle to
increase linearly with time. In other words, we can write
(536)
where is the angular rotation frequency (i.e., the number of radians through which
the object rotates per second). Here, it is assumed that at , for the sake of
convenience.
From simple trigonometry, the - and -coordinates of the object can be written
(537)
(538)
(540)
simultaneously along both the - and the -axes. Note, however, that these two
motions are (i.e., radians) out of phase. Moreover, the amplitude of the
motion equals the radius of the circle. Clearly, there is a close relationship between
simple harmonic motion and circular motion.